{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:KEF24H6TRKKELNKIT46F5JBROV","short_pith_number":"pith:KEF24H6T","canonical_record":{"source":{"id":"2202.09400","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-18T19:41:53Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"15c61f915ecbc331b8e05eabb0c9910c57c48c6b6381065e432c9bd9485e39ec","abstract_canon_sha256":"5ae959e2645c43b9c29dfe1db8d1e55118e024464b7acb44547d1ae344fb7f41"},"schema_version":"1.0"},"canonical_sha256":"510bae1fd38a9445b5489f3c5ea431756a6d5537e951d21c02d4371f5ab19dcb","source":{"kind":"arxiv","id":"2202.09400","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.09400","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"arxiv_version","alias_value":"2202.09400v5","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.09400","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_12","alias_value":"KEF24H6TRKKE","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_16","alias_value":"KEF24H6TRKKELNKI","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_8","alias_value":"KEF24H6T","created_at":"2026-07-05T04:59:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:KEF24H6TRKKELNKIT46F5JBROV","target":"record","payload":{"canonical_record":{"source":{"id":"2202.09400","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-18T19:41:53Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"15c61f915ecbc331b8e05eabb0c9910c57c48c6b6381065e432c9bd9485e39ec","abstract_canon_sha256":"5ae959e2645c43b9c29dfe1db8d1e55118e024464b7acb44547d1ae344fb7f41"},"schema_version":"1.0"},"canonical_sha256":"510bae1fd38a9445b5489f3c5ea431756a6d5537e951d21c02d4371f5ab19dcb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:59:59.245452Z","signature_b64":"LVn2EOoCXImhkGEYmPyCO3/CVVZ4SIo+SDetIP3D28RHucEOBNDEjC7j6Qmqc+qqU9WsvM6hMWES5C9YvSk4Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"510bae1fd38a9445b5489f3c5ea431756a6d5537e951d21c02d4371f5ab19dcb","last_reissued_at":"2026-07-05T04:59:59.244962Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:59:59.244962Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.09400","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:59:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G3bhhuW858xRwmtwDp7pMEdu9ETB2bzk85ink75r3jBDFxqmkkbEbpGRxVV6dJ3CayofB35sysv+Ae419B5ZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:14:24.615893Z"},"content_sha256":"f618da1e56062a62b079d6ac24bbe34ef3219932f6b3a30b7ee6d83644bcbab0","schema_version":"1.0","event_id":"sha256:f618da1e56062a62b079d6ac24bbe34ef3219932f6b3a30b7ee6d83644bcbab0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:KEF24H6TRKKELNKIT46F5JBROV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Equivariant Transporter Network","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Dian Wang, Haojie Huang, Robert Platt, Robin Walters","submitted_at":"2022-02-18T19:41:53Z","abstract_excerpt":"Transporter Net is a recently proposed framework for pick and place that is able to learn good manipulation policies from a very few expert demonstrations. A key reason why Transporter Net is so sample efficient is that the model incorporates rotational equivariance into the pick module, i.e. the model immediately generalizes learned pick knowledge to objects presented in different orientations. This paper proposes a novel version of Transporter Net that is equivariant to both pick and place orientation. As a result, our model immediately generalizes place knowledge to different place orientat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.09400","kind":"arxiv","version":5},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2202.09400/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:59:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SGag/4c1WYvt+oV0Ifwtw0X3id5czu7eIsWF2DunsDIiEv4zuF2eEY5AmNAikyzfLuGZg+Cen6sPuVXXyfJKAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:14:24.616693Z"},"content_sha256":"d1554843415334d1c4ed41c3073d002a19866e58070a3630faa9b46e5d5bf496","schema_version":"1.0","event_id":"sha256:d1554843415334d1c4ed41c3073d002a19866e58070a3630faa9b46e5d5bf496"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KEF24H6TRKKELNKIT46F5JBROV/bundle.json","state_url":"https://pith.science/pith/KEF24H6TRKKELNKIT46F5JBROV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KEF24H6TRKKELNKIT46F5JBROV/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-17T07:14:24Z","links":{"resolver":"https://pith.science/pith/KEF24H6TRKKELNKIT46F5JBROV","bundle":"https://pith.science/pith/KEF24H6TRKKELNKIT46F5JBROV/bundle.json","state":"https://pith.science/pith/KEF24H6TRKKELNKIT46F5JBROV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KEF24H6TRKKELNKIT46F5JBROV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:KEF24H6TRKKELNKIT46F5JBROV","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"5ae959e2645c43b9c29dfe1db8d1e55118e024464b7acb44547d1ae344fb7f41","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-18T19:41:53Z","title_canon_sha256":"15c61f915ecbc331b8e05eabb0c9910c57c48c6b6381065e432c9bd9485e39ec"},"schema_version":"1.0","source":{"id":"2202.09400","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.09400","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"arxiv_version","alias_value":"2202.09400v5","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.09400","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_12","alias_value":"KEF24H6TRKKE","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_16","alias_value":"KEF24H6TRKKELNKI","created_at":"2026-07-05T04:59:59Z"},{"alias_kind":"pith_short_8","alias_value":"KEF24H6T","created_at":"2026-07-05T04:59:59Z"}],"graph_snapshots":[{"event_id":"sha256:d1554843415334d1c4ed41c3073d002a19866e58070a3630faa9b46e5d5bf496","target":"graph","created_at":"2026-07-05T04:59:59Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2202.09400/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Transporter Net is a recently proposed framework for pick and place that is able to learn good manipulation policies from a very few expert demonstrations. A key reason why Transporter Net is so sample efficient is that the model incorporates rotational equivariance into the pick module, i.e. the model immediately generalizes learned pick knowledge to objects presented in different orientations. This paper proposes a novel version of Transporter Net that is equivariant to both pick and place orientation. As a result, our model immediately generalizes place knowledge to different place orientat","authors_text":"Dian Wang, Haojie Huang, Robert Platt, Robin Walters","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-18T19:41:53Z","title":"Equivariant Transporter Network"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.09400","kind":"arxiv","version":5},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f618da1e56062a62b079d6ac24bbe34ef3219932f6b3a30b7ee6d83644bcbab0","target":"record","created_at":"2026-07-05T04:59:59Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"5ae959e2645c43b9c29dfe1db8d1e55118e024464b7acb44547d1ae344fb7f41","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-18T19:41:53Z","title_canon_sha256":"15c61f915ecbc331b8e05eabb0c9910c57c48c6b6381065e432c9bd9485e39ec"},"schema_version":"1.0","source":{"id":"2202.09400","kind":"arxiv","version":5}},"canonical_sha256":"510bae1fd38a9445b5489f3c5ea431756a6d5537e951d21c02d4371f5ab19dcb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"510bae1fd38a9445b5489f3c5ea431756a6d5537e951d21c02d4371f5ab19dcb","first_computed_at":"2026-07-05T04:59:59.244962Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:59:59.244962Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LVn2EOoCXImhkGEYmPyCO3/CVVZ4SIo+SDetIP3D28RHucEOBNDEjC7j6Qmqc+qqU9WsvM6hMWES5C9YvSk4Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:59:59.245452Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.09400","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f618da1e56062a62b079d6ac24bbe34ef3219932f6b3a30b7ee6d83644bcbab0","sha256:d1554843415334d1c4ed41c3073d002a19866e58070a3630faa9b46e5d5bf496"],"state_sha256":"3160d073def6151274989d4a1548a2dd8fac10263f3db3023c3f94254ed676ed"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QZCG8MzXi3RV0FiaDXHOfMvWUJU3gcrCKnl//BitVgWRf6yHHKZNU+2iWCqNGSFnThicHGkN9ZY9O6nBT3aNCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T07:14:24.631697Z","bundle_sha256":"a8c509ebf9ce7fe93af84f89ef374ea53b49ecb0d656f06aed4b635cc505e001"}}